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<div class="title">uniform_sampling.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_UNIFORM_SAMPLING_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_UNIFORM_SAMPLING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;boost/unordered_map.hpp&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html">   61</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_uniform_sampling.html">UniformSampling</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;UniformSampling&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const UniformSampling&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a563fbc11cf3660804e4f8c58233167f5">   75</a></span>&#160;      <a class="code" href="classpcl_1_1_uniform_sampling.html#a563fbc11cf3660804e4f8c58233167f5">UniformSampling</a> () :</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a38aca1bcb2e35f039ce853a43933c3fe">leaves_</a> (),</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a> (Eigen::Vector4f::Zero ()),</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a28cddb4338da989eae8685534409d00c">inverse_leaf_size_</a> (Eigen::Vector4f::Zero ()),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a03f7f1fe8c6155dbe06cb91c22ae0384">min_b_</a> (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        max_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        div_b_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        divb_mul_ (Eigen::Vector4i::Zero ()),</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a438a4a7c497e90d72bc150b7467d0852">search_radius_</a> (0)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;UniformSampling&quot;</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a395648b36153fe612f2cb651bab6f9d2">   89</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_uniform_sampling.html#a395648b36153fe612f2cb651bab6f9d2">~UniformSampling</a> ()</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a38aca1bcb2e35f039ce853a43933c3fe">leaves_</a>.clear();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#aca9ee065b797d845f506a6390bcdc064">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_uniform_sampling.html#aca9ee065b797d845f506a6390bcdc064">setRadiusSearch</a> (<span class="keywordtype">double</span> radius) </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      { </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>[0] = <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>[1] = <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radius);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="comment">// Avoid division errors</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>[3] == 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>[3] = 1;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="comment">// Use multiplications instead of divisions</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a28cddb4338da989eae8685534409d00c">inverse_leaf_size_</a> = Eigen::Array4f::Ones () / <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_uniform_sampling.html#a438a4a7c497e90d72bc150b7467d0852">search_radius_</a> = radius;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structpcl_1_1_uniform_sampling_1_1_leaf.html">  111</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_uniform_sampling_1_1_leaf.html">Leaf</a></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="structpcl_1_1_uniform_sampling_1_1_leaf.html">Leaf</a> () : idx (-1) { }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">int</span> idx;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      };</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a38aca1bcb2e35f039ce853a43933c3fe">  118</a></span>&#160;      boost::unordered_map&lt;size_t, Leaf&gt; <a class="code" href="classpcl_1_1_uniform_sampling.html#a38aca1bcb2e35f039ce853a43933c3fe">leaves_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">  121</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">leaf_size_</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a28cddb4338da989eae8685534409d00c">  124</a></span>&#160;      Eigen::Array4f <a class="code" href="classpcl_1_1_uniform_sampling.html#a28cddb4338da989eae8685534409d00c">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a03f7f1fe8c6155dbe06cb91c22ae0384">  127</a></span>&#160;      Eigen::Vector4i <a class="code" href="classpcl_1_1_uniform_sampling.html#a03f7f1fe8c6155dbe06cb91c22ae0384">min_b_</a>, max_b_, div_b_, divb_mul_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_uniform_sampling.html#a438a4a7c497e90d72bc150b7467d0852">  130</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_uniform_sampling.html#a438a4a7c497e90d72bc150b7467d0852">search_radius_</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <a class="code" href="classpcl_1_1_uniform_sampling.html#ab3c48b0d51eea9eb731666a5cd83b1a7">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  };</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/uniform_sampling.hpp&gt;</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_UNIFORM_SAMPLING_H_</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html">pcl::UniformSampling</a></div><div class="ttdoc">UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data...</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a03f7f1fe8c6155dbe06cb91c22ae0384"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a03f7f1fe8c6155dbe06cb91c22ae0384">pcl::UniformSampling::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a2644f4f24fff1e895cceaa6e1262af59"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a2644f4f24fff1e895cceaa6e1262af59">pcl::UniformSampling::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a28cddb4338da989eae8685534409d00c"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a28cddb4338da989eae8685534409d00c">pcl::UniformSampling::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a38aca1bcb2e35f039ce853a43933c3fe"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a38aca1bcb2e35f039ce853a43933c3fe">pcl::UniformSampling::leaves_</a></div><div class="ttdeci">boost::unordered_map&lt; size_t, Leaf &gt; leaves_</div><div class="ttdoc">The 3D grid leaves.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a395648b36153fe612f2cb651bab6f9d2"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a395648b36153fe612f2cb651bab6f9d2">pcl::UniformSampling::~UniformSampling</a></div><div class="ttdeci">virtual ~UniformSampling()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a438a4a7c497e90d72bc150b7467d0852"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a438a4a7c497e90d72bc150b7467d0852">pcl::UniformSampling::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_a563fbc11cf3660804e4f8c58233167f5"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#a563fbc11cf3660804e4f8c58233167f5">pcl::UniformSampling::UniformSampling</a></div><div class="ttdeci">UniformSampling()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_ab3c48b0d51eea9eb731666a5cd83b1a7"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#ab3c48b0d51eea9eb731666a5cd83b1a7">pcl::UniformSampling::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach</div><div class="ttdef"><b>Definition:</b> uniform_sampling.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_uniform_sampling_html_aca9ee065b797d845f506a6390bcdc064"><div class="ttname"><a href="classpcl_1_1_uniform_sampling.html#aca9ee065b797d845f506a6390bcdc064">pcl::UniformSampling::setRadiusSearch</a></div><div class="ttdeci">virtual void setRadiusSearch(double radius)</div><div class="ttdoc">Set the 3D grid leaf size.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:98</div></div>
<div class="ttc" id="astructpcl_1_1_uniform_sampling_1_1_leaf_html"><div class="ttname"><a href="structpcl_1_1_uniform_sampling_1_1_leaf.html">pcl::UniformSampling::Leaf</a></div><div class="ttdoc">Simple structure to hold an nD centroid and the number of points in a leaf.</div><div class="ttdef"><b>Definition:</b> uniform_sampling.h:112</div></div>
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